Sensor signal correction

ABSTRACT

A correction unit for use in a sensor system, the sensor system comprising a force sensor configured to output a sensor signal indicative of a temporary mechanical distortion of a material under an applied force, the correction unit configured, based on the sensor signal, to: estimate an effect of the applied force on how the material will return towards an undistorted form upon a substantial reduction or removal of the applied force; and generate a corrected signal based on the estimation.

FIELD OF DISCLOSURE

The present disclosure relates in general to force sensors and sensorsystems which comprise a force sensor, and in particular to thecorrection of sensor signals provided by such force sensors.

A correction unit may be provided for use in such a sensor system tocorrect a sensor signal provided by a force sensor.

BACKGROUND

Force sensors and sensor systems having force sensors may be providedfor use with, or as part of, a host device. A host device having a forcesensor may be referred to as a sensor system or force sensor system.

In this context, a host device may be considered an electrical orelectronic device and may be a mobile device. Example devices include aportable and/or battery powered host device such as a mobile telephone,an audio player, a video player, a PDA, a mobile computing platform suchas a laptop computer or tablet and/or a games device.

In general, a force sensor is configured to output a sensor signalindicative of a temporary mechanical distortion of a material under anapplied force. The material may for example be a metal plate which ispart of, or associated with, the force sensor, and which ispushed/pressed or otherwise deformed by a user. In the context of a hostdevice, the material may be part of a chassis or external casing of thedevice. The force may for example be applied and subsequently reduced orremoved in a user press operation, where the force sensor is used toimplement a button, the user press operation starting when the force isapplied.

Force sensing may be carried out by a variety of different types offorce sensor. Example types of force sensor mentioned above includecapacitive displacement sensors, inductive force sensors, strain gauges,piezoelectric force sensors, force sensing resistors, piezoresistiveforce sensors, thin film force sensors and quantum tunnellingcomposite-based force sensors.

An example involving inductive sensing (e.g. employing aresistive-inductive-capacitive sensor) will now be considered, by way ofexample. In particular, an example inductive sensor system (sensesystem) 1000 is shown in FIG. 1 . This inductive sensing example will betaken forward as a running example, however it will be appreciated thatthe considerations apply equally to other types of sensor system. Thepresent disclosure will be understood accordingly.

In FIG. 1 , the inductive sensor system 1000 is shown in schematic formon the left-hand side, and as an equivalent lumped (circuit) model onthe right-hand side. The inductive sensor (force sensor) in this examplecomprises a metal plate 1002 and inductor 1004 located at a certaindistance. When current (I) goes through the inductor 1004, the magneticfield induces an Eddy current inside the metal plate 1002. When a forceis applied to the metal plate 1002, this deforms or deflects the metalplate and changes the distance from the metal plate 1002 to the inductorcoil 1004. This in turn changes the coupling between the inductor 1004and metal plate 1002, and the coupling coefficient k, inductance L2 andlossy resistance RL from the model change. The change in distance, inturn, modifies the effective impedance looking into the inductor (ZL).

In such an inductive sensor system 1000, a mechanicalmovement/distortion in the metal plate 1002 under the applied force willresult in a change in inductance. This can be used to implement a buttonfor example at the surface or shell/casing/chassis of a host device(e.g. with the metal plate forming part of the chassis). FIG. 2 is aschematic diagram showing such an implementation, where theinductor/coil is shown implemented as a PCB inductor located alongside ametal chassis of the host device which serves as the metal plate. Asindicated, the application of a force on the metal chassis by a user'sfinger causes a displacement or deflection of the metal chassis, whichaffects the distance to the coil. A measurement unit is provided tomeasure the change in impedance looking into the inductor.

A more detailed example sensor system 1100, which measures a phase shiftthat is proportional to the coil inductance, is shown in FIG. 3 and maybe considered a detailed implementation of the systems of FIGS. 1 and 2.

With reference to FIG. 3 , the example system 1100 comprises a digitallycontrolled oscillator (DCO) 1110, a drive circuit (Driver) 1120, a forcesensor (Sensor) 1130, a Q-I receive path 1140, a processing block (phasecalculator) 1150 and a button press detection block (input determinationblock) 1160.

The DCO 1110 outputs a clock at a carrier frequency (Fc), referred to asthe 0 degree output. The DCO 1110 outputs a second square wave clockthat is notionally 90 degrees shifted relative to the primary output,referred to as the 90 degree output.

The output of the VCO (DCO) is coupled to the input of the driver 1120.The drive circuit 1120 drives a pseudo-sinusoidal current at thefrequency and phase alignment of the 0 degree clock input. The drivecircuit 1120 drives a fixed amplitude current.

The sensor (Sensor) 1130 in this example comprises an R-L-C circuit(corresponding to the sensor shown in FIGS. 1 and 2 ), and may bereferred to as a resistive-inductive-capacitive sensor. The inductancein the circuit is comprised of a coil and a metal plate, for example thecoil 1004 and the metal plate 1002. The voltage across the sensor 1130is generated based on the R-L-C filter response to the current drivenonto the sensor (alternatively the system may be responsive to voltagedriven onto the sensor, to generate a current to be measured). The Rcomponent is not shown in FIG. 3 but will be present as an intentionalor parasitic circuit component.

The Q-I receive path 1140 receives the voltage across the sensor 1130and comprises a low noise input amplifier (Amplifier) 1141, an I pathand a Q path. The Q path is coupled to the output of the amplifier 1141and comprises an analog multiplier 1142 with inputs coupled to the VCO(DCO) output that is 90 degrees phase shifted to the current transmittedby the driver circuit 1120 and the output of the amplifier 1141, alow-pass filter 1143 coupled to the output of the analog multiplier1142, and an ADC 1144 coupled to the output of the low pass filter 1143to digitize the Q path voltage signal. The I path is coupled to theoutput of the amplifier 1141 and comprises an analog multiplier 1145with inputs coupled to the VCO (DCO) output that is phase aligned to thecurrent transmitted by the driver circuit 1120 and the output of theamplifier 1141, a low-pass filter 1146 coupled to the output of theanalog multiplier 1145, and an ADC 1147 coupled to the output of the lowpass filter 1146 to digitize the I path voltage signal.

The processing block (phase calculator) 1150 generates amplitude andphase information from the Q-I paths wherein, the I path ADC output iscoupled as an input into the processing block 1150, and the Q path ADCoutput is coupled as an input into the processing block 1150.

In such a system 1100, to do one scan of the R-L-C sensor 1130, the VCO(DCO) 1110 and drive circuit 1120 are activated. After the low passfilter 1143, 1146 has settled, the ADC 1144, 1147 is activated and oneor multiple ADC samples are captured, nominally at 500 kHz (as anexample). The duration over which the ADC samples are captured isreferred to as the conversion time.

The button press detection block (input determination block) 1160observes the phase information to determine if the shift in phaserecorded by the I-Q detection path 1140 is interpreted as a buttonpress. In this regard, an output signal of the processing block 1150which contains the phase information may be referred to as a sensorsignal which is operated upon by the button press detection block 1160.The output of the button press detection block 1160 may be abutton_on_off signal which indicates whether the button implemented bythe sensor 1130 is being pressed (ON) or not (OFF).

However, such systems are considered to be open to improvement whenperformance is taken into account. In particular, it has been found thatoutput of the button press detection block 1160 may be inaccurate orsubject to errors.

It is desirable to provide improved sensor systems, in which performancereaches acceptable levels.

SUMMARY

According to a first aspect of the present disclosure, there is provideda correction unit for use in a sensor system, the sensor systemcomprising a force sensor configured to output a sensor signalindicative of a temporary mechanical distortion of a material under anapplied force, the correction unit configured, based on the sensorsignal, to: estimate an effect of the applied force on how the materialwill return towards an undistorted form upon a substantial reduction orremoval of the applied force; and generate a corrected signal based onthe estimation.

In this way, the corrected signal better represents the applied forcethan the sensor signal, since the effect of the applied force on how thematerial will return towards its undistorted form upon a substantialreduction or removal of the applied force has been taken into account.

The effect may comprise a mechanical effect, or a mechanical-relaxationeffect, affecting how the material will return towards (or to) theundistorted form.

The effect may be estimated based on a definition of a mechanical modelwhich models a mechanical interaction between the material and theapplied force. The sensor signal may represent the applied force. Thecorrected signal may be generated by correcting the sensor signal basedon the estimation. The corrected signal may better represent the appliedforce than the sensor signal, for example when that applied force isapplied and/or when (or as) that applied force is substantially reducedor removed.

The correction unit may be configured, based on the sensor signal, to:calculate an estimation signal which estimates the effect and/or whichcomprises said estimation; and generate the corrected signal based onthe estimation signal.

The force may be applied and subsequently reduced or removed in a userpress operation, the user press operation starting when the force isdetected as having been applied.

The correction unit may be configured, based on the sensor signal, todetect the start of the user press operation, optionally by comparingthe sensor signal (e.g. its magnitude or gradient) to a threshold value.

The correction unit may be configured to calculate the estimation signalusing an estimation model whose arguments comprise one or more inputvariables. The one or more input variables may comprise one or more of:time; an elapsed time (or duration) of the user press operation; amagnitude of the sensor signal, e.g. over the user press operation; arate of change of the magnitude of the sensor signal; a period of timesince a previous user press operation; a frequency of user pressoperations; a determined location of the applied force relative to alocation of the force sensor; a time-domain and/or frequency-domainfeature extracted from the sensor signal and/or the corrected signal; atime-domain and/or frequency-domain feature extracted from, or amagnitude of at least one sensor signal obtained from another forcesensor of the sensor system; a time-domain and/or frequency-domainfeature extracted from, or a magnitude of at least one sensor signalobtained from another sensor of the sensor system (other than a forcesensor) such as a temperature sensor, accelerometer, microphone orcamera; a feedback signal generated by the sensor system in response tothe sensor signal and/or the corrected signal; and a feedback signalinput by a user in response to the sensor signal and/or the correctedsignal. Such variables may be provided as time-based or time-seriessignals, and be considered e.g. functions of time.

The estimation model may be configured such that the estimation signalis related to or proportional to: the elapsed time of the user pressoperation; and/or the magnitude of the sensor signal, e.g. over the userpress operation. Such a magnitude may be provided as a time-based ortime-series signal, and be considered e.g. a function of time.

The estimation model may be or comprises an estimation function, such asan exponential function. The estimation model may be or comprise a(trained) machine-learning model.

The correction unit may be configured, based on the sensor signal, tocalculate the estimation signal based on:

$\begin{matrix}{{B(t)} = {{F(t)}\left( {1 - \exp^{\frac{- t_{E}}{T_{0}}}} \right)}} & \end{matrix}$

where t is time, t_(E) is the elapsed time, B(t) is the estimationsignal, F(t) is the sensor signal, and T₀ is a time-constant factor. Thecorrection unit may be configured to adapt the time-constant factor T₀based on one or more of the above input variables.

The correction unit may be configured, based on the sensor signal, tocalculate the estimation signal based on a weighted sum or othermathematical combination of the sensor signal and the at least onesensor signal obtained from another force sensor of the sensor system.

The correction unit may be configured, based on the sensor signal, tocalculate the estimation signal based on a weighted sum or othermathematical combination of the sensor signal and the at least onesensor signal obtained from another sensor of the sensor system (otherthan a force sensor) such as a temperature sensor, accelerometer,microphone or camera.

The correction unit may be configured to generate the corrected signalby subtracting the estimation signal from the sensor signal, optionallywherein the estimation signal is an estimated baseline signal.

The correction unit may be configured, based on a determinativemagnitude being a magnitude of the sensor signal or the correctedsignal, to calculate a compensation signal as: when the determinativemagnitude is above a first threshold, the estimation signal; when thedeterminative magnitude is below a second threshold, the sensor signal;and/or when the determinative magnitude is between the first and secondthresholds, a weighted sum of the sensor signal and the estimationsignal dependent on a position of the determinative magnitude betweenthe first and second thresholds. The correction unit may be configuredto generate the corrected signal by subtracting the compensation signalfrom the sensor signal, optionally wherein the compensation signal is anestimated baseline signal.

The sensor signal (and other signals described herein) may comprise atime series of samples. The correction unit may be configured tocalculate the estimation signal and/or the correction signal on asample-by-sample basis, optionally in an iterative manner (i.e. byupdating a previous or preceding value of that signal).

The mechanical distortion may comprise one or more of a mechanicaldeformation, an elastic deformation and a mechanical deflection. Theforce may be a distorting force. The material may be part of the forcesensor or be associated with or provided adjacent to the force sensor.

According to a second aspect of the present disclosure, there isprovided a correction unit for use in a sensor system, the systemcomprising a force sensor configured to output a sensor signalindicative of an applied force, the correction unit configured, based onthe sensor signal, to: calculate or estimate a mechanical-relaxation(e.g. baseline) signal representative of a mechanical-relaxation effecton the sensor signal in response to the applied force; and generate amechanical-relaxation-compensated corrected signal based on themechanical-relaxation (e.g. baseline) signal and the sensor signal, forexample by subtracting the mechanical-relaxation (e.g. baseline signal)from the sensor signal.

According to a third aspect of the present disclosure, there is provideda correction unit for use in a sensor system, the system comprising aforce sensor configured to output a sensor signal indicative of atemporary mechanical distortion of a material under an applied force,the correction unit configured, based on the sensor signal, to: estimatean effect of the applied force on the material; and generate a correctedsignal based on the estimation.

According to a fourth aspect of the present disclosure, there isprovided a correction unit for use in a sensor system, the systemcomprising a force sensor configured to output a sensor signalindicative of an applied force, wherein: the correction unit isconfigured, based on the sensor signal, to estimate a compensationsignal which, if subtracted from the sensor signal, provides a correctedsignal which better represents the applied force than the sensor signal,for example during a substantial reduction or removal of that appliedforce.

According to a fifth aspect of the present disclosure, there is provideda correction unit for use in a sensor system, the system comprising aforce sensor configured to output a sensor signal indicative of anapplied force, wherein: the correction unit is configured, based on thesensor signal, to generate a corrected signal which better representsthe applied force than the sensor signal, e.g. when or as that appliedforce is substantially reduced or removed.

According to a sixth aspect of the present disclosure, there is providedcorrection unit for use in a sensor system, the system comprising aforce sensor configured to output a sensor signal indicative of anapplied force, wherein the force is applied and subsequently reduced orremoved in a user press operation, the user press operation startingwhen the force is applied, and wherein the correction unit isconfigured, based on the sensor signal, to:

calculate an estimation signal based on:

$\begin{matrix}{{B(t)} = {{F(t)}\left( {1 - e^{\frac{- t_{E}}{T_{0}}}} \right)}} & \end{matrix}$

where t is time, t_(E) is an elapsed time of the user press operation,B(t) is the estimation signal, F(t) is the sensor signal, and T₀ is atime-constant factor; and

generate a corrected signal based on the estimation signal.

According to a seventh aspect of the present disclosure, there isprovided correction unit for use in a sensor system, the systemcomprising a force sensor configured to output a sensor signalindicative of an applied force, the correction unit configured, based onthe sensor signal, to: calculate a mechanical-model (e.g. baseline)signal representative of an effect of a mechanical operation of theforce sensor on the sensor signal in response to the applied force; andgenerate a mechanical-model-compensated corrected signal based on themechanical-model (e.g. baseline) signal and the sensor signal, forexample by subtracting the mechanical-model (e.g. baseline signal) fromthe sensor signal.

According to an eighth aspect of the present disclosure, there isprovided a sensor system, comprising: the correction unit according toany of the aforementioned aspects; and the force sensor.

According to a ninth aspect of the present disclosure, there is provideda host device, comprising the correction unit according to any of theaforementioned first to seventh aspects or the sensor system accordingto any of the aforementioned eighth aspect.

Also envisaged are corresponding method aspects, computer programaspects and storage medium aspects. Features of one aspect may beapplied to another and vice versa.

BRIEF DESCRIPTION OF THE DRAWINGS

Reference will now be made, by way of example only, to the accompanyingdrawings, of which:

FIG. 1 , mentioned above, is a schematic diagram of an examplepreviously-considered inductive (force) sensor system;

FIG. 2 , mentioned above, is a schematic diagram of an examplepreviously-considered inductive sensor system, showing structuralimplementation;

FIG. 3 , mentioned above, is a schematic diagram of an examplepreviously-considered inductive sensor system;

FIG. 4 is a graph which shows three example sensor signals;

FIG. 5 is a graph useful for understanding problems with pressdetection;

FIG. 6 is a graph useful for understanding press detection in an idealcase;

FIG. 7 is a schematic diagram of a sensor system embodying the presentinvention;

FIG. 8 is a schematic diagram of a sensor system embodying the presentinvention;

FIG. 9 presents graphs useful for understanding possible operation ofthe embodiments of FIGS. 7 and 8 ;

FIG. 10 is a schematic diagram of an example sensor system comprisingfour force sensors;

FIG. 11 presents graphs useful for understanding possible operation ofthe embodiments of FIGS. 7 and 8 ; and

FIG. 12 is a block diagram of selected components of an example hostdevice in which embodiments of the present invention may be deployed.

DETAILED DESCRIPTION

The description below sets forth example embodiments according to thisdisclosure. Further example embodiments and implementations will beapparent to those having ordinary skill in the art. Further, thosehaving ordinary skill in the art will recognize that various equivalenttechniques may be applied in lieu of, or in conjunction with, theembodiments discussed below, and all such equivalents should be deemedas being encompassed by the present disclosure.

Before considering embodiments, focus will be placed on sources ofinaccuracy. In particular, focus will be placed on sensor signalsprovided by force sensors, such as the output signal of the processingblock 1150 of FIG. 3 .

FIG. 4 is a graph which shows three example sensor signals, marked 10 s,30 s and 60 s, respectively, as might be output from the processingblock 1150 of FIG. 3 . As such, the sensor signals as shown as phaseresponses (in degrees) against time (indicated by way of sample numbers,where the samples are obtained at 400 Hz as an example).

In this example, the same sensor (button) was pressed for 10 seconds, 30seconds, and 60 seconds, thereby providing the 10 s, 30 s and 60 ssensors signals, respectively. As indicated in FIG. 4 , the sensorsignals have been aligned in time so that the time when the button wasreleased (i.e. the applied force was removed) is the same across allthree signals.

As apparent from FIG. 4 , the button does not behave as an “ideal”button. When the button is released after being pressed, i.e. when theapplied force is removed, the sensor signals take some time to return totheir original “non-pressed” baseline level, and this differs for thethree signals shown. Effectively, the sensor signals are each indicativeof a temporary mechanical distortion of a material (of or associatedwith the force sensor) under an applied force, in this case of the metalplate being pressed by the user (see FIGS. 1 and 2 ). When that appliedforce is removed (or substantially reduced), the material returns to(towards) an undistorted or ‘at rest’ form.

This return to an undistorted form may be considered a manifestation ofa mechanical relaxation effect associated with the mechanicalconstruction of the force sensor, in this example related to thetemporary mechanical distortion or deflection of the metal plate. Adeflection in this context is the degree to which the material (or apart or structural element thereof) is displaced under a load (due toits deformation), and may refer to an angle or a distance. The extent ofthis mechanical relaxation effect depends on, for example, the durationand frequency of the button press, the force of the button press and theposition of the button press. Hence, in FIG. 4 , the three sensorsignals (between which the duration of the button presses differs) showdifferent returns to baseline level. The position of the button pressmay for example be deduced or determined based on sensor signals frommultiple force sensors at known locations, for example.

These mechanical relaxation effects thus manifest themselves ininaccuracies in the sensor signals; the magnitude of the applied force,and the timing of its release, is the same for each of the sensorsignals in FIG. 4 and thus the three sensor signals would all return totheir baseline level in the same way in an ‘ideal’ case. However, the 60s sensor signal takes the longest to return to its baseline levelwhereas the 10 s sensor signal is the quickest. These inaccuracies inthe sensor signals pass through to inaccuracies in the output of abutton press detection algorithm, as may be employed by the button pressdetection 1160.

FIG. 5 is a graph which shows an example sensor signal, marked PhaseSignal, as might be output from the processing block 1150 of FIG. 3 . Assuch, the sensor signal is shown as a phase response (in degrees)against time (indicated by way of sample numbers). Also plotted on thesame graph are a threshold level (Threshold for Button Press Detection),a press detection output signal (Button Detector Output) and a groundtruth press detection output signal (Ground Truth Button DetectorOutput).

It is assumed here that the button press detection algorithm operates bydetermining that the button is being pressed if the sensor signal isabove the threshold level, e.g. which may be set at 1 degree phaseassuming baseline phase to be at 0 degrees. Accordingly, the pressdetection output signal has a HIGH value (button ON) when the sensorsignal is above the threshold level and a LOW value (button OFF) whenthe sensor signal is below the threshold level. The mechanicalrelaxation effect mentioned earlier affects when the sensor signalcrosses the threshold level upon removal of the applied force (thepressing of the button). This can be appreciated by comparison of thepress detection output signal with the ground truth press detectionoutput signal, the latter of which is generated based on a hypothetical‘ideal’ sensor signal (not shown) which crosses the threshold levelexactly when the applied force is removed.

By comparison of the press detection output signal with the ground truthpress detection output signal, it can be seen that the button pressdetection algorithm generates so-called false positives in those caseswhere the press detection output signal has a HIGH value (button ON) fora substantial period of time after the ground truth press detectionoutput signal falls from HIGH to LOW. That is, false positives occurwhen the user stops pressing the button, but due to mechanicalrelaxation it takes additional time for the button press to be detectedas having been released. These cases are indicated by another signaloverlaid below the x-axis on the graph as indicated. Note that a “falsepositive” is defined here relative to an “event”. In this case, theevent consists of the period of time during which the button should beOFF. If at some point during this time period the button is incorrectlydetected as ON, the entire event (and associated time period) is takenas a false positive.

It would be desirable for the press detection output signal to betterrepresent the actual application and removal of the force on the button(force sensor) and thus to more closely match the ground truth pressdetection output signal, for example as indicated in FIG. 6 which is agraph corresponding to FIG. 5 but with the press detection output signalmatching the ground truth press detection output signal.

One way to address the mechanical relation effect is to focus on theforce sensor itself, in terms of its construction and materials. Thepresent inventors have however focused on the sensor signal itself,accepting the force sensor as being non-ideal in its operation andinstead looking to ‘correct’ the sensor signal so that the mechanicalrelaxation effects are reduced, removed or compensated for.

With this in mind, FIG. 7 is a schematic diagram of a sensor system 2000embodying the present invention.

The sensor system 2000, as shown in FIG. 7 , comprises a force sensor2010 and a correction unit 2020. Of course, the sensor system 2000 maybe provided as a host device as mentioned earlier, in which case it maycomprise numerous other elements (not shown for simplicity). In someembodiments, the sensor system 2000 may be provided without the forcesensor 2010, for use with the force sensor 2010 (e.g. as an externalcomponent). As such, the sensor system 2000 may be provided as indicatedby either of the two dashed boxes in FIG. 7 .

As above, the force sensor 2010 is configured to output a sensor signalindicative of a temporary mechanical distortion of a material under anapplied force, for example applied in a user press operation. In a userpress operation, the force may be applied and subsequently reduced orremoved, corresponding to a (time limited) button press.

The correction unit 2020 is configured, based on the sensor signal, togenerate a corrected signal which better represents the applied forcethan the sensor signal when that applied force is substantially reducedor removed. For example, looking back to FIG. 4 , the corrected signalmay be considered to more quickly return to the baseline level than anyof the 10 s, 30 s and 60 s sensor signals, and/or to return to thebaseline level with less dependence on how the force has been applied(e.g. its magnitude, its duration, etc.). Thus, the corrected signalscorresponding to the 10 s, 30 s and 60 s sensor signals of FIG. 4 may bemore similar to one another, in particular when or as (including after)the button has been released, than the 10 s, 30 s and 60 s sensorsignals themselves.

FIG. 8 is a schematic diagram of a sensor system 2100 embodying thepresent invention, as a detailed example. The sensor system 2100corresponds to the sensor system 1100 of FIG. 3 , but has the correctionunit 2020 introduced between the processing block (phase calculator)1150 and the button press detection block (input determination block)1160. Thus, in FIG. 8 the button press detection block 1160 operatesbased on the corrected signal, rather than on the sensor signal as inFIG. 3 . For comparison with FIG. 7 , the elements in FIG. 8 whichcollectively generate the sensor signal have been indicated ascorresponding to the force sensor 2010 in FIG. 7 .

One way to generate the corrected signal is to calculate an estimationsignal which estimates an effect of the applied force on how thematerial (e.g. metal plate) will return to or towards its undistortedform upon a substantial reduction or removal of the applied force, andthen to generate the corrected signal based on the estimation signal.For example, the estimation signal may be generated as an estimatedbaseline signal with the corrected signal then being generated bysubtracting the estimation signal from the sensor signal.

FIG. 9 presents two graphs to demonstrate how the corrected signal couldbe generated in this way.

The left-hand graph shows the sensor signal as a phase signal forconsistency with the FIG. 8 example. As such, the sensor signal is shownas a phase response or phase signal (in degrees) against time (indicatedby way of sample numbers). It is recalled that the sensor signal isobtained from the force sensor 2010 and as such is effectively a forcesignal (a signal whose magnitude is representative of, or proportionalto, the detected force applied to the force sensor). For this reason,the sensor signal is labelled F(t), where t is time (e.g. measured inseconds or samples). Also shown on the left-hand graph is the estimationsignal which estimates an effect of the applied force on how thematerial (e.g. metal plate) will return to or towards its undistortedform upon a substantial reduction or removal of the applied force. Herethe estimation signal is generated as an estimated baseline signal, andas such is marked as B(t).

The right-hand graph shows the corresponding correction signal,F_(corrected)(t) obtained by subtracting the estimation signal from thesensor signal, according to the equation:

F _(corrected)(t)=F(t)−B(t)

It can be seen from the left-hand graph that the estimated baselinesignal, B(t), is calculated to rise during a user press operation withits value dependent on, or proportional to, the applied force and theelapsed time of the user press operation (i.e. its duration). Theelapsed time of a user press operation may be measured from when thatuser press operation starts, this point being defined for example bywhen the sensor signal crosses or exceeds a threshold value as it risesfrom a value below the threshold value.

In this way, the longer the user press operation is, and the larger theapplied force is, the less far the sensor signal needs to drop at theend of the user press operation to meet the estimated baseline signal.Therefore, as can be seen from the right-hand graph, the correctionsignal, F_(corrected)(t), better resembles a square wave with themechanical relaxation effects at the end of each user press operationsubstantially removed. That is, at the end of the user press operation,when the sensor signal value drops rapidly but with some inaccuracy dueto the mechanical relaxation effects, the corresponding corrected signaldrops substantially directly to its baseline level.

One possible way to calculate the estimation signal or estimatedbaseline signal, B(t), is using an estimation model, which isproportional to the force applied and the elapsed time of the user pressoperation. One possible model is an estimation function such as anexponential function, which may thus include variables such as theelapsed time of the user press operation, and the magnitude of thesensor signal over the user press operation.

An example such exponential function is as follows:

${B(t)} = {{F(t)}\left( {1 - \exp^{\frac{- t_{E}}{T_{0}}}} \right)}$

where t is time, t_(E) is the elapsed time of the user press operation,B(t) is the estimation signal, F(t) is the sensor signal, and T₀ is atime-constant factor. It will become apparent that this model orfunction may be implemented so that the estimation signal B(t) isupdated sample by sample in an iterative manner, with the only timeinformation needed being the sample period, so that it becomesunnecessary to explicitly measure t_(E).

Such a function effectively serves as a mechanical model which models amechanical interaction between the material (metal plate) and theapplied force. In effect, the estimation signal may be based on adefinition of such a mechanical model.

Of course, the above function is just an example and another function(e.g. another exponential function) may be used, such as one which alsohas further arguments. Examples of further arguments include variablessuch as the magnitude of a sensor signal obtained from at least oneother force sensor of the system and/or at least one other sensor of thesystem such as a temperature sensor, accelerometer, microphone orcamera. It is recalled that the sensor system may be, or be part of, ahost device which may have multiple force sensors and/or sensors otherthan force sensors.

The above formula for the estimation signal, B(t), has the followingderivative:

$\frac{\partial{B(t)}}{\partial t} = {{\frac{\partial{F(t)}}{\partial t}\left( {1 - \exp^{\frac{- t_{E}}{T_{0}}}} \right)} + {\frac{F(t)}{T_{0}}\exp^{\frac{- t_{E}}{T_{0}}}}}$

The estimation signal or estimated baseline signal, B(t), may thus beupdated sample by sample in an iterative manner (as mentioned earlier),i.e. updated in real-time as each new sample of the sensor signalbecomes available:

${B\left( {t + 1} \right)} = {{B(t)} + {\frac{\partial{B\left( {t + 1} \right)}}{\partial t}\Delta t}}$

Here, B(t+1) becomes the value of the estimation signal for the sampleafter that for B(t), and t and t_(E) in the above derivative effectivelybecome the sample time/period so that it is no longer necessary toexplicitly measure t_(E) as mentioned earlier.

The time-constant factor, T₀, could be preset or could be adapted e.g.in real-time to adjust the rate/aggressivity of the baseline estimation.For example, the adaptation could be based on any of the above variablesincluding features, including time and frequency domain, extracted fromthe sensor signal, F(t), for the sensor signal (i.e. force sensor orbutton) whose baseline is being estimated. As another example, theadaptation could be based on features, including time and frequencydomain, extracted from the sensor signal from another button/forcesensor different from that whose baseline is being estimated. As anotherexample, the adaptation could be based on stimuli and associatedfeatures, including time and frequency domain, extracted from othersensors in the system, such as a temperature sensor, accelerometer,microphone or camera. As another example, the adaptation could be basedon feedback gathered from a human user, who is interacting with a device(e.g. host device), such as a mobile phone or tablet, through a GUI,voice interface or other feedback mechanism.

In the present example, the (force) sensor system may thus be understoodas providing a mechanical-relaxation-compensated corrected signal, usinga (force) sensor signal and a baseline signal, the baseline signalsubtracted from the sensor signal to provide the corrected outputsignal. The baseline signal may be adjusted based on (a) the appliedforce as determined from the force sensor signal, (b) the duration ofthe force as determined from the force sensor signal, and/or (c) amechanical model of the force sensor system, to compensate formechanical relaxation effects of the force sensor system.

The mechanical model of the sensor system may be dynamically adapted(e.g. by adapting the factor T₀ based on (a) features extracted from theforce sensor signal e.g. time series variance over a time window, (b)features extracted from other force sensors, and/or (c) other types ofsensor outputs, e.g. based on the temperature of the sensor system. Theestimation signal (baseline signal) may be adjusted based on apreviously-calculated iteration of the estimation signal or thecorrected signal, to account for an SNR level of the system.

As mentioned above, the estimation signal may be calculated using afunction which has arguments beyond the elapsed time of the user pressoperation, and the magnitude of the sensor signal (over the user pressoperation). One example of further arguments includes the magnitude of asensor signal obtained from at least one other force sensor of thesystem.

With this in mind, FIG. 10 is a schematic diagram of an example sensorsystem comprising four force sensors S1 to S4 which share the same metalplate (which may be part of the chassis or sidewall of a host devicesuch as a smart phone). An applied force is shown at a location betweenforce sensors S1 and S2, but it is appreciated that components of thisforce will be sensed at each of the sensors S1 to S4 due to the commonmetal plate.

For convenience, the four correlated sensors S1 to S4 may be assumed togenerate or provide sensor signals F₁(t) to F₄(t), respectively. It mayalso be assumed that each of those sensor signals is subject tocorrection using the techniques described herein, so that respectiveestimation signals B₁(t) to B₄(t) are calculated and applied to theircorresponding sensor signals to generated corrected signalsF_(corrected,1)(t) to F_(corrected,4)(t), respectively.

Given the interaction between the sensors S1 to S4 due to the commonmetal plate, it may be advantageous to use the sensor signals for eachof those sensors as arguments when calculating the estimation signal forone of them. For example, in the case of S4 its corrected signal may berepresented as:

F _(corrected,4)(t)=F ₄(t)−B ₄(F ₁(t),F ₂(t),F ₃(t),F ₄(t))

In this case, since the force is being applied closer to S1 and S2,these two sensors have a larger signal. Using S1 and S2 to contribute tothe estimation signal B₄(t) at S4 exploits the higher SNR of S1 and S2to improve B₄(t). Additionally, using sensor signals from multiplesensors such as S1 to S4 improves the baseline estimate (estimationsignal) when working with non-ideal, non-point forces or multipleconcurrent forces.

Another example of further arguments includes the magnitude as afunction of the elapsed time of a sensor signal obtained from at leastone other sensor of the system which might not be a force sensor. Forexample, a temperature signal Temperature(t) obtained from a temperaturesensor could be used as follows:

F _(corrected)(t)=F(t)−B(F(t),Temperature(t))

Another possible technique is to calculate the estimation signaldifferently for different magnitudes of the senor signal and/or of thecorrected signal. This may, for example, be useful in low SNRenvironments.

By way of example, the estimation signal or estimated baseline signalmay be calculated as under three different operating regimes R1 to R3 asfollows, with the estimation signal termed B_(final)(t) and referred tohere as a compensation signal for ease of understanding:

To determine the operating regime, the corrected signal (i.e. the sensorsignal corrected for mechanical relaxation effects) may be calculated asearlier according to:

F _(corrected)(t)=F(t)−B(t)

and F_(corrected)(t) then compared to an upper, Threshold_(Upper), andlower, Threshold_(Lower), threshold.

The three regimes R1 to R3 may then be defined as:

F _(corrected)(t)>Threshold_(Upper)  R1:

Threshold_(Lower) <F _(corrected)(t)<Threshold_(Upper)  R2:

Threshold_(Lower) >F _(corrected)(t)  R3:

In regime R1, the compensation signal B_(final)(t) may be calculated as:

B _(final)(t)=B(t)

That is, the compensation signal in this case is the estimation signalcalculated as described earlier.

In regime R2, the compensation signal signal B_(final)(t) may becalculated as:

B _(final)(t)=α(t)B(t)+(1−α(t))F(t)

-   -   where

${\alpha(t)} = {\frac{F_{corrected}(t)}{{Threshold_{Upper}} - {Threshold_{Lower}}} - \frac{Threshold_{Lower}}{{Threshold_{Upper}} - {Threshold_{Lower}}}}$

In this case, the compensation signal corresponds to a linearcombination of B(t) and F(t). This regime ensures that F_(corrected)(t)does not have discontinuities when switching between regimes R1 and R3.

In regime R3, the compensation signal B_(final)(t) may be calculated as:

B _(final) =F(t)

In this case, the compensation signal (baseline) corresponds exclusivelyto the sensor signal without any baseline correction.

FIG. 11 corresponds to FIG. 9 , with the corrected signalF_(corrected)(t) calculated according to the regimes R1 to R3 asdescribed above, and with the period of time in which the differentregimes are operational explicitly indicated in the left-hand graph.

In fact, although not mentioned earlier, the corrected signalF_(corrected)(t) in FIG. 9 was also calculated according to the regimesR1 to R3 so that the only difference between FIG. 11 and FIG. 9 is theexplicit labelling of R1 to R3. Thus, the mention of B(t) in FIG. 9could be interpreted as corresponding to B_(final)(t).

In regime R1, the button is being pressed and the baseline estimate(compensation signal, also the estimation signal) is increasing,proportionally to both the duration and force of the press in line withFIG. 9 . In regime R3 the sensor signal is close to the noise floor andmechanical relaxation has negligible effect, so the baseline estimate(compensation signal) is based exclusively on the sensor signal (phasesignal). Incidentally, in this example, low pass filtering has beenapplied to the F(t) signal when calculating B_(final)(t)=F(t). Thismeans, the curves of F(t) and B_(final)(t) do not exactly overlap.Regime R2 is a transition between regimes R1 and R3, and the baselineestimate (compensation signal) consists of a linear combination of thebaseline estimate (compensation signal) calculated using regimes R1 andR3.

As mentioned above, the sensor systems disclosed herein may be embodiedas (or as a part of) a host device, such as a mobile device. FIG. 12illustrates a block diagram of selected components of an example mobiledevice (host device) 3102, in accordance with embodiments of the presentdisclosure.

As shown in FIG. 12 , mobile device 3102 may comprise an enclosure 3101,a controller 3103, a memory 3104, a force sensor or force sensor 3105, amicrophone 3106, a linear resonant actuator (LRA) 3107, a radiotransmitter/receiver 3108, a speaker 3110, and an integrated hapticsystem 3112. It will be understood that any suitable vibrationalactuators arranged to provide a haptic vibration effect (e.g.,rotational actuators such as ERMs, vibrating motors, etc.) may be usedas an alternative to or in addition to the LRA 3107.

Enclosure 3101 may comprise any suitable housing, casing, or otherenclosure for housing the various components of mobile device (hostdevice) 3102. Enclosure 3101 may be constructed from plastic, metal,and/or any other suitable materials. In addition, enclosure 3101 may beadapted (e.g., sized and shaped) such that mobile device 3102 is readilytransported on a person of a user of mobile device 3102. Accordingly,mobile device 3102 may include but is not limited to a smart phone, atablet computing device, a handheld computing device, a personal digitalassistant, a notebook computer, a video game controller, a headphone orearphone or any other device that may be readily transported on a personof a user of mobile device 3102. While FIG. 1 illustrates a mobiledevice, it will be understood that the illustrated systems may beutilized in other device types, e.g. user-interactable(user-interactive) display technology, automotive computing systems,etc.

Controller 3103 may be housed within enclosure 3101 and may include anysystem, device, or apparatus configured to interpret and/or executeprogram instructions and/or process data, and may include, withoutlimitation a microprocessor, microcontroller, digital signal processor(DSP), application specific integrated circuit (ASIC), or any otherdigital or analog circuitry configured to interpret and/or executeprogram instructions and/or process data. In some embodiments,controller 3103 interprets and/or executes program instructions and/orprocesses data stored in memory 3104 and/or other computer-readablemedia accessible to controller 3103.

Memory 3104 may be housed within enclosure 3101, may be communicativelycoupled to controller 3103, and may include any system, device, orapparatus configured to retain program instructions and/or data for aperiod of time (e.g., computer-readable media). Memory 3104 may includerandom access memory (RAM), electrically erasable programmable read-onlymemory (EEPROM), a Personal Computer Memory Card InternationalAssociation (PCMCIA) card, flash memory, magnetic storage, opto-magneticstorage, or any suitable selection and/or array of volatile ornon-volatile memory that retains data after power to mobile device 3102is turned off.

Microphone 3106 may be housed at least partially within enclosure 3101,may be communicatively coupled to controller 3103, and may comprise anysystem, device, or apparatus configured to convert sound incident atmicrophone 3106 to an electrical signal that may be processed bycontroller 3103, wherein such sound is converted to an electrical signalusing a diaphragm or membrane having an electrical capacitance thatvaries as based on sonic vibrations received at the diaphragm ormembrane. Microphone 3106 may include an electrostatic microphone, acondenser microphone, an electret microphone, a microelectromechanicalsystems (MEMS) microphone, or any other suitable capacitive microphone.

Radio transmitter/receiver 3108 may be housed within enclosure 3101, maybe communicatively coupled to controller 3103, and may include anysystem, device, or apparatus configured to, with the aid of an antenna,generate and transmit radio-frequency signals as well as receiveradio-frequency signals and convert the information carried by suchreceived signals into a form usable by controller 3103. Radiotransmitter/receiver 3108 may be configured to transmit and/or receivevarious types of radio-frequency signals, including without limitation,cellular communications (e.g., 2G, 3G, 4G, 5G, LTE, etc.), short-rangewireless communications (e.g., BLUETOOTH), commercial radio signals,television signals, satellite radio signals (e.g., GPS), WirelessFidelity, etc.

A speaker 3110 may be housed at least partially within enclosure 3101 ormay be external to enclosure 3101, may be communicatively coupled tocontroller 3103, and may comprise any system, device, or apparatusconfigured to produce sound in response to electrical audio signalinput. In some embodiments, a speaker may comprise a dynamicloudspeaker, which employs a lightweight diaphragm mechanically coupledto a rigid frame via a flexible suspension that constrains a voice coilto move axially through a cylindrical magnetic gap. When an electricalsignal is applied to the voice coil, a magnetic field is created by theelectric current in the voice coil, making it a variable electromagnet.The coil and the driver's magnetic system interact, generating amechanical force that causes the coil (and thus, the attached cone) tomove back and forth, thereby reproducing sound under the control of theapplied electrical signal coming from the amplifier.

The force sensor 3105 may be housed within, be located on or form partof the enclosure 3101, and may be communicatively coupled to thecontroller 3103 as shown. It will be understood that force sensor 3105may be representative of a single force sensor or of a plurality offorce sensors. Each force sensor 105 may include any suitable system,device, or apparatus for sensing a force, a pressure, or a touch (e.g.,an interaction with a human finger) and for generating an electrical orelectronic signal in response to such force, pressure, or touch. In someembodiments, such electrical or electronic signal may be a function of amagnitude of the force, pressure, or touch applied to the force sensor.In these and other embodiments, such electronic or electrical signal maycomprise a general-purpose input/output signal (GPIO) associated with aninput signal to which haptic feedback is given.

Example force sensors 3105 may include or comprise: capacitivedisplacement sensors, inductive force sensors, strain gauges,piezoelectric force sensors, force sensing resistors, piezoresistiveforce sensors, thin film force sensors, and quantum tunnelingcomposite-based force sensors.

In some arrangements, other types of sensor may be employed. Forpurposes of clarity and exposition in this disclosure, the term “force”as used herein may refer not only to force, but to physical quantitiesindicative of force or analogous to force, such as, but not limited to,pressure and touch.

Linear resonant actuator 3107 may be housed within enclosure 3101, andmay include any suitable system, device, or apparatus for producing anoscillating mechanical force across a single axis. For example, in someembodiments, linear resonant actuator 3107 may rely on an alternatingcurrent voltage to drive a voice coil pressed against a moving massconnected to a spring. When the voice coil is driven at the resonantfrequency of the spring, linear resonant actuator 3107 may vibrate witha perceptible force. Thus, linear resonant actuator 3107 may be usefulin haptic applications within a specific frequency range.

While, for the purposes of clarity and exposition, this disclosure isdescribed in relation to the use of linear resonant actuator 3107, it isunderstood that any other type or types of vibrational actuators (e.g.,eccentric rotating mass actuators) may be used in lieu of or in additionto linear resonant actuator 3107. In addition, it is also understoodthat actuators arranged to produce an oscillating mechanical forceacross multiple axes may be used in lieu of or in addition to linearresonant actuator 3107. A linear resonant actuator 3107, based on asignal received from integrated haptic system 3112, may render hapticfeedback to a user of mobile device 3102 for at least one of mechanicalbutton replacement and capacitive sensor feedback.

Integrated haptic system 3112 may be housed within enclosure 3101, maybe communicatively coupled to force sensor 3105 and linear resonantactuator 3107, and may include any system, device, or apparatusconfigured to receive a signal from force sensor 3105 indicative of aforce applied to mobile device 3102 (e.g., a force applied by a humanfinger to a virtual button of mobile device 3102) and generate anelectronic signal for driving linear resonant actuator 3107 in responseto the force applied to mobile device 3102. Integrated haptic system3112 may be communicatively coupled to the controller 3103 as shown, andmay for example be controlled by the controller 3103.

Although specific example components are depicted above as beingintegral to mobile device 3102 (e.g., controller 3103, memory 3104,force sensor 3105, microphone 3106, radio transmitter/receiver 3108,speakers(s) 3110), a mobile device 3102 in accordance with thisdisclosure may comprise one or more components not specificallyenumerated above. For example, although FIG. 1 depicts certain userinterface components, mobile device 3102 may include one or more otheruser interface components in addition to those depicted in the abovefigure, including but not limited to a keypad, a touch screen, and adisplay, thus allowing a user to interact with and/or otherwisemanipulate mobile device 3102 and its associated components.

In addition, it will be understood that the device may be provided withadditional input sensor devices or transducers, for exampleaccelerometers, gyroscopes, cameras, temperature sensors or other sensordevices.

It will be appreciated that the force sensor 3105 may be consideredequivalent to the force sensor 2010, and that the correction unit 2020may be implemented in the integrated haptic system 3112 and/or thecontroller 3103. Similarly, the button press detection block (inputdetermination block) 1160 may be implemented in the integrated hapticsystem 3112 and/or the controller 3103.

As described herein, correction of the sensor signal (to generate thecorrection signal) may be referred to as adjustment, adaptation,alteration, or modification. The corrected signal may be referred to asan adjusted signal or modified signal, for example. The correction unitmay be referred to as an adjustment, adaptation, alteration, ormodification unit, for example.

The skilled person will recognise that some aspects of the abovedescribed apparatus (circuitry) and methods may be embodied as processorcontrol code, for example on a non-volatile carrier medium such as adisk, CD- or DVD-ROM, programmed memory such as read only memory(Firmware), or on a data carrier such as an optical or electrical signalcarrier. For example, the correction unit 2020 may be implemented as aprocessor operating based on processor control code. As another example,the integrated haptic system 3112 and/or the controller 3103 may beimplemented as a processor operating based on processor control code. Asanother example, the processing block 1150 may be implemented as aprocessor operating based on processor control code.

For some applications, such aspects will be implemented on a DSP(Digital Signal Processor), ASIC (Application Specific IntegratedCircuit) or FPGA (Field Programmable Gate Array). Thus the code maycomprise conventional program code or microcode or, for example, codefor setting up or controlling an ASIC or FPGA. The code may alsocomprise code for dynamically configuring re-configurable apparatus suchas re-programmable logic gate arrays. Similarly, the code may comprisecode for a hardware description language such as Verilog TM or VHDL. Asthe skilled person will appreciate, the code may be distributed betweena plurality of coupled components in communication with one another.Where appropriate, such aspects may also be implemented using coderunning on a field-(re)programmable analogue array or similar device inorder to configure analogue hardware.

Some embodiments of the present invention may be arranged as part of anaudio processing circuit, for instance an audio circuit (such as a codecor the like) which may be provided in a host device as discussed above.A circuit or circuitry according to an embodiment of the presentinvention may be implemented (at least in part) as an integrated circuit(IC), for example on an IC chip. One or more input or output transducers(such as force sensor 2010 or 3105) may be connected to the integratedcircuit in use.

It should be noted that the above-mentioned embodiments illustraterather than limit the invention, and that those skilled in the art willbe able to design many alternative embodiments without departing fromthe scope of the appended claims. The word “comprising” does not excludethe presence of elements or steps other than those listed in the claim,“a” or “an” does not exclude a plurality, and a single feature or otherunit may fulfil the functions of several units recited in the claims.Any reference numerals or labels in the claims shall not be construed soas to limit their scope.

As used herein, when two or more elements are referred to as “coupled”to one another, such term indicates that such two or more elements arein electronic communication or mechanical communication, as applicable,whether connected indirectly or directly, with or without interveningelements.

This disclosure encompasses all changes, substitutions, variations,alterations, and modifications to the example embodiments herein that aperson having ordinary skill in the art would comprehend. Similarly,where appropriate, the appended claims encompass all changes,substitutions, variations, alterations, and modifications to the exampleembodiments herein that a person having ordinary skill in the art wouldcomprehend. Moreover, reference in the appended claims to an apparatusor system or a component of an apparatus or system being adapted to,arranged to, capable of, configured to, enabled to, operable to, oroperative to perform a particular function encompasses that apparatus,system, or component, whether or not it or that particular function isactivated, turned on, or unlocked, as long as that apparatus, system, orcomponent is so adapted, arranged, capable, configured, enabled,operable, or operative. Accordingly, modifications, additions, oromissions may be made to the systems, apparatuses, and methods describedherein without departing from the scope of the disclosure. For example,the components of the systems and apparatuses may be integrated orseparated. Moreover, the operations of the systems and apparatusesdisclosed herein may be performed by more, fewer, or other componentsand the methods described may include more, fewer, or other steps.Additionally, steps may be performed in any suitable order. As used inthis document, “each” refers to each member of a set or each member of asubset of a set.

Although exemplary embodiments are illustrated in the figures anddescribed below, the principles of the present disclosure may beimplemented using any number of techniques, whether currently known ornot. The present disclosure should in no way be limited to the exemplaryimplementations and techniques illustrated in the drawings and describedabove.

Unless otherwise specifically noted, articles depicted in the drawingsare not necessarily drawn to scale.

All examples and conditional language recited herein are intended forpedagogical objects to aid the reader in understanding the disclosureand the concepts contributed by the inventor to furthering the art, andare construed as being without limitation to such specifically recitedexamples and conditions. Although embodiments of the present disclosurehave been described in detail, it should be understood that variouschanges, substitutions, and alterations could be made hereto withoutdeparting from the spirit and scope of the disclosure.

Although specific advantages have been enumerated above, variousembodiments may include some, none, or all of the enumerated advantages.Additionally, other technical advantages may become readily apparent toone of ordinary skill in the art after review of the foregoing figuresand description.

To aid the Patent Office (USPTO) and any readers of any patent issued onthis application in interpreting the claims appended hereto, applicantswish to note that they do not intend any of the appended claims or claimelements to invoke 35 U.S.C. § 112(f) unless the words “means for” or“step for” are explicitly used in the particular claim.

1. A correction unit for use in a sensor system, the sensor systemcomprising a force sensor configured to output a sensor signalindicative of a temporary mechanical distortion of a material under anapplied force, the correction unit configured, based on the sensorsignal, to: estimate an effect of the applied force on how the materialwill return towards an undistorted form upon a substantial reduction orremoval of the applied force; and generate a corrected signal based onthe estimation.
 2. The correction unit as claimed in claim 1, whereinthe effect comprises a mechanical effect, or a mechanical-relaxationeffect, affecting how the material will return towards the undistortedform.
 3. The correction unit as claimed in claim 1, configured toestimate the effect based on a definition of a mechanical model whichmodels a mechanical interaction between the material and the appliedforce.
 4. The correction unit as claimed in claim 1, wherein: the sensorsignal represents the applied force; and/or the corrected signal isgenerated by correcting the sensor signal based on the estimation;and/or the corrected signal better represents the applied force than thesensor signal, optionally when that applied force is applied and/or whenthat applied force is substantially reduced or removed.
 5. Thecorrection unit as claimed in claim 1, configured, based on the sensorsignal, to: calculate an estimation signal which estimates said effectand/or which comprises said estimation; and generate the correctedsignal based on the estimation signal.
 6. The correction unit as claimedin claim 5, wherein the force is applied and subsequently reduced orremoved in a user press operation, the user press operation startingwhen the force is detected as having been applied.
 7. The correctionunit as claimed in claim 6, configured, based on the sensor signal, todetect the start of the user press operation, optionally by comparingthe sensor signal to a threshold value.
 8. The correction unit asclaimed in claim 6, configured to calculate the estimation signal usingan estimation model whose arguments comprise one or more inputvariables, the one or more input variables comprising one or more of:time; an elapsed time of the user press operation; a magnitude of thesensor signal; a rate of change of the magnitude of the sensor signal; aperiod of time since a previous user press operation; a frequency ofuser press operations; a determined location of the applied forcerelative to a location of the force sensor; a time-domain and/orfrequency-domain feature extracted from the sensor signal and/or thecorrected signal; a time-domain and/or frequency-domain featureextracted from, or a magnitude of, at least one sensor signal obtainedfrom another force sensor of the sensor system; a time-domain and/orfrequency-domain feature extracted from, or a magnitude of, at least onesensor signal obtained from another sensor of the sensor system such asa temperature sensor, accelerometer, microphone or camera; a feedbacksignal generated by the sensor system in response to the sensor signaland/or the corrected signal; and a feedback signal input by a user inresponse to the sensor signal and/or the corrected signal.
 9. Thecorrection unit as claimed in claim 8, wherein the estimation model isconfigured such that the estimation signal is related to or proportionalto: the elapsed time of the user press operation; and/or the magnitudeof the sensor signal.
 10. The correction unit as claimed in claim 8,wherein the estimation model is or comprises an estimation function suchas an exponential function.
 11. The correction unit as claimed in claim8, configured, based on the sensor signal, to calculate the estimationsignal based on:${B(t)} = {{F(t)}\left( {1 - \exp^{\frac{- t_{E}}{T_{0}}}} \right)}$where t is time, t_(E) is the elapsed time, B(t) is the estimationsignal, F(t) is the sensor signal, and T₀ is a time-constant factor. 12.The correction unit as claimed in claim 11, configured to adapt thetime-constant factor T₀ based on one or more of said input variables.13. The correction unit as claimed in claim 8, configured, based on thesensor signal, to calculate the estimation signal based on a weightedsum or other mathematical combination of the sensor signal and said atleast one sensor signal obtained from another force sensor of the sensorsystem.
 14. The correction unit as claimed in claim 8, configured, basedon the sensor signal, to calculate the estimation signal based on aweighted sum or other mathematical combination of the sensor signal andsaid at least one sensor signal obtained from another sensor of thesensor system such as a temperature sensor, accelerometer, microphone orcamera.
 15. The correction unit as claimed in claim 5, configured togenerate the corrected signal by subtracting the estimation signal fromthe sensor signal, optionally wherein the estimation signal is anestimated baseline signal.
 16. The correction unit as claimed in claim5, configured, based on a determinative magnitude being a magnitude ofthe sensor signal or the corrected signal, to calculate a compensationsignal as: when the determinative magnitude is above a first threshold,the estimation signal; when the determinative magnitude is below asecond threshold, the sensor signal; and when the determinativemagnitude is between the first and second thresholds, a weighted sum ofthe sensor signal and the estimation signal dependent on a position ofthe determinative magnitude between the first and second thresholds,wherein the correction unit is configured to generate the correctedsignal by subtracting the compensation signal from the sensor signal,optionally wherein the compensation signal is an estimated baselinesignal.
 17. The correction unit as claimed in claim 5, wherein: thesensor signal comprises a time series of samples; and the correctionunit is configured to calculate the estimation signal and/or thecorrection signal on a sample-by-sample basis, optionally in aniterative manner.
 18. The correction unit as claimed in claim 1,wherein: the mechanical distortion comprises one or more of a mechanicaldeformation, an elastic deformation and a mechanical deflection; and/orthe force is a distorting force; and/or the material is part of theforce sensor.
 19. A correction unit for use in a sensor system, thesystem comprising a force sensor configured to output a sensor signalindicative of an applied force, the correction unit configured, based onthe sensor signal, to: calculate a mechanical-relaxation signalrepresentative of a mechanical-relaxation effect on the sensor signal inresponse to the applied force; and generate amechanical-relaxation-compensated corrected signal based on themechanical-relaxation signal and the sensor signal.
 20. A sensor systemor a host device, comprising: the correction unit as claimed in claim 1;and the force sensor.